Aria: ArLaserConnector Class Reference

ArLaserConnector makes a laser connection either through a TCP port (for the simulator or for robots with Ethernet-serial bridge devices instead of onboard computers), or through a direct serial port connection. Normally, it first attempts a TCP connection on localhost port 8101, to use a simulator if running. If the simulator is not running, then it normally then connects using the serial port (the first serial port, COM1, by default). Various other connection parameters are configurable through command-line arguments.

When you create your ArLaserConnector, pass it command line parameters via either the argc and argv variables from main(), or pass it an ArArgumentBuilder or ArArgumentParser object. (ArArgumentBuilder is able to obtain command line parameters from a Windows program that uses WinMain() instead of main()). ArLaserConnector registers a callback with the global Aria class. Use Aria::parseArgs() to parse all command line parameters to the program, and Aria::logOptions() to print out information about all registered command-line parameters.

Laser types and options may also be set in the robot parameter file.  See the
ARIA reference documentation for details.

If a program supports multiple lasers, then options for additional lasers
after the first are given by appending the laser number (e.g. -laserType2)
To enable use of a laser, choose its type with the -laserType<N> options
(e.g.: -laserType lms2xx -laserType2 urg)

The default laser type for the primary laser (laser 1) is "lms2xx".

Instruct a program to connect to a laser using the -connectLaser<N> option;
if a program requires use of a laser it usually always attempts to connect to
the primary laser, however.

The index number is optional in options for the primary laser (laser 1).



For laser type "lms2xx":

-laserPort <laserPort>
-lp <laserPort>
-laserPortType <serial|tcp>
-lpt <serial|tcp>
-remoteLaserTcpPort <remoteLaserTcpPort>
-rltp <remoteLaserTcpPort>
-laserFlipped <true|false>
-lf <true|false>
-laserMaxRange <maxRange>
-lmr <maxRange>
	<maxRange> is an unsigned int less than 32000
-laserDegrees <100|180>
-ld <100|180>
-laserIncrement <half|one>
-li <half|one>
-laserUnits <1mm|1cm|10cm>
-lu <1mm|1cm|10cm>
-laserReflectorBits <1ref|2ref|3ref>
-lrb <1ref|2ref|3ref>
-laserPowerControlled <true|false>
-lpc <true|false>
-laserStartingBaud <9600|19200|38400>
-lsb <9600|19200|38400>
-laserAutoBaud <9600|19200|38400>
-lab <9600|19200|38400>
-laserAdditionalIgnoreReadings <readings>
-lair <readings>
	<readings> is a string that contains readings to ignore separated by commas, where ranges are acceptable with a -, example '75,76,90-100,-75,-76,-90--100'

For laser type "urg":

-laserPort <laserPort>
-lp <laserPort>
-laserPortType <serial|tcp>
-lpt <serial|tcp>
-remoteLaserTcpPort <remoteLaserTcpPort>
-rltp <remoteLaserTcpPort>
-laserFlipped <true|false>
-lf <true|false>
-laserMaxRange <maxRange>
-lmr <maxRange>
	<maxRange> is an unsigned int less than 4095
-laserDegreesStart <startAngle>
-lds <startAngle>
	<startAngle> is a double between -135 and 135
-laserDegreesEnd <endAngle>
-lde <endAngle>
	<endAngle> is a double between -135 and 135
-laserIncrementByDegrees <incrementByDegrees>
-libd <incrementByDegrees>
	<incrementByDegrees> is a double between 0 and 135
-laserStartingBaud <019200|057600|115200|250000|500000|750000>
-lsb <019200|057600|115200|250000|500000|750000>
-laserAutoBaud <019200|057600|115200|250000|500000|750000>
-lab <019200|057600|115200|250000|500000|750000>
-laserAdditionalIgnoreReadings <readings>
-lair <readings>
	<readings> is a string that contains readings to ignore separated by commas, where ranges are acceptable with a -, example '75,76,90-100,-75,-76,-90--100'

You can prepare an ArRobot object for connection (with various connection options configured via the command line parameters) and initiate the connection attempt by that object by calling connectRobot().

You can then configure ArLaserConnector for the SICK laser based on the robot connection, and command line parameters with setupLaser(). After calling setupLaser(), you must then run the laser processing thread (with ArLaser::runAsync() or ArLaser()::run()) and then use ArLaserConnector::connectLaser() to connect with the laser if specifically requested on the command line using the -connectLaser option (or simply call ArLaser::blockingConnect() (or similar) to attempt a laser connection regardless of whether or not the -connectLaser option was given; use this latter technique if your program always prefers or requires use of the laser).


Public Member Functions
bool	addLaser (ArLaser *laser, int laserNumber=1)
	Adds a laser so parsing will get it.
bool	addPlaceholderLaser (ArLaser *placeholderLaser, int laserNumber=1, bool takeOwnershipOfPlaceholder=false)
	Adds a laser for parsing but where connectLaser will be called later.
	ArLaserConnector (ArArgumentParser parser, ArRobot robot, ArRobotConnector *robotConnector, bool autoParseArgs=true, ArLog::LogLevel infoLogLevel=ArLog::Verbose)
	Constructor that takes argument parser.
bool	connectLaser (ArLaser *laser, int laserNumber=1, bool forceConnection=true)
	Connects the laser synchronously (will take up to a minute).
bool	connectLasers (bool continueOnFailedConnect=false, bool addConnectedLasersToRobot=true, bool addAllLasersToRobot=false, bool turnOnLasers=true, bool powerCycleLaserOnFailedConnect=true)
	Connects all the lasers the robot has that should be auto connected.
void	logOptions (void) const
	Log the options the simple connector has.
bool	parseArgs (ArArgumentParser *parser)
	Function to parse the arguments given in an arbitrary parser.
bool	parseArgs (void)
	Function to parse the arguments given in the constructor.
bool	setupLaser (ArLaser *laser, int laserNumber=1)
	Sets up a laser to be connected.
	~ArLaserConnector (void)
	Destructor.
Protected Member Functions
bool	internalConfigureLaser (LaserData *laserData)
void	logLaserOptions (LaserData *laserdata, bool header=true, bool metaOpts=true) const
	Logs the laser command line option help text.
bool	parseLaserArgs (ArArgumentParser parser, LaserData laserData)
	Parses the laser arguments.
Protected Attributes
bool	myAutoParseArgs
ArLog::LogLevel	myInfoLogLevel
std::map< int, LaserData * >	myLasers
std::string	myLaserTypes
ArConstFunctorC< ArLaserConnector >	myLogOptionsCB
bool	myOwnParser
ArRetFunctorC< bool, ArLaserConnector >	myParseArgsCB
bool	myParsedArgs
ArArgumentParser *	myParser
ArRobot *	myRobot
ArRobotConnector *	myRobotConnector
Classes
class	LaserData
	Class that holds information about the laser data. More...

Constructor & Destructor Documentation

ArLaserConnector::ArLaserConnector	(	ArArgumentParser *	parser,
		ArRobot *	robot,
		ArRobotConnector *	robotConnector,
		bool	autoParseArgs = `true`,
		ArLog::LogLevel	infoLogLevel = `ArLog::Verbose`
	)

Constructor that takes argument parser.

Warning:: do not delete parser during the lifetime of this ArLaserConnector, which may need to access its contents later.

Parameters:

	parser	the parser with the arguments to parse
	robot	the robot these lasers are attached to (or NULL for none)
	robotConnector	the connector used for connecting to the robot (so we can see if it was a sim or not)
	autoParseArgs	if this class should autoparse the args if they aren't parsed explicitly
	infoLogLevel	The log level for information about creating lasers and such, this is also passed to all the lasers created as their infoLogLevel too

Member Function Documentation

bool ArLaserConnector::addLaser	(	ArLaser *	laser,
		int	laserNumber = `1`
	)

Adds a laser so parsing will get it.

Normally adding lasers is done from the .p file, you can use this if you want to add them explicitly in a program (which will override the .p file, and may cause some problems).

This is mainly for backwards compatibility (ie used for ArSimpleConnector). If you're using this class you should probably use the new functionality which is just ArLaserConnector::connectLasers.

bool ArLaserConnector::addPlaceholderLaser	(	ArLaser *	placeholderLaser,
		int	laserNumber = `1`,
		bool	takeOwnershipOfPlaceholder = `false`
	)

Adds a laser for parsing but where connectLaser will be called later.

Normally adding lasers is done from the .p file, you can use this if you want to add them explicitly in a program (which will override the .p file, and may cause some problems).

This is only for backwards compatibility (ie used for ArSimpleConnector). If you're using this class you should probably use the new functionality which is just ArLaserConnector::connectLasers.

bool ArLaserConnector::connectLaser	(	ArLaser *	laser,
		int	laserNumber = `1`,
		bool	forceConnection = `true`
	)

Connects the laser synchronously (will take up to a minute).

This is mainly for backwards compatibility (ie used for ArSimpleConnector). If you're using this class you should probably use the new functionality which is just ArLaserConnector::connectLasers.

bool ArLaserConnector::connectLasers	(	bool	continueOnFailedConnect = `false`,
		bool	addConnectedLasersToRobot = `true`,
		bool	addAllLasersToRobot = `false`,
		bool	turnOnLasers = `true`,
		bool	powerCycleLaserOnFailedConnect = `true`
	)

Connects all the lasers the robot has that should be auto connected.

TODO see if this firmware can actually do the power cycling

bool ArLaserConnector::parseArgs

(

ArArgumentParser *

parser

)

Function to parse the arguments given in an arbitrary parser.

Parse command line arguments held by the given ArArgumentParser.

Returns:: true if the arguments were parsed successfully false if not

The following arguments are used for the robot connection:

-robotPort port

-rp port

Use the given serial port device name for a serial port connection (e.g. COM1, or /dev/ttyS0 if on Linux.) The default is the first serial port, or COM1, which is the typical Pioneer setup.

The following arguments are accepted for laser connections. A program may request support for more than one laser using setMaxNumLasers(); if multi-laser support is enabled in this way, then these arguments must have the laser index number appended. For example, "-laserPort" for laser 1 would instead by "-laserPort1", and for laser 2 it would be "-laserPort2".

-laserPort port
-lp port: Use the given port device name when connecting to a laser. For example, COM2 or on Linux, /dev/ttyS1. The default laser port is COM2, which is the typical Pioneer laser port setup.
-laserFlipped true|false
-lf true|false: If true, then the laser is mounted upside-down on the robot and the ordering of readings should be reversed.
-connectLaser
-cl: Explicitly request that the client program connect to a laser, if it does not always do so
-laserPowerControlled true|false
-lpc true|false: If true, then the laser is powered on when the serial port is initially opened, so enable certain features when connecting such as a waiting period as the laser initializes.
-laserDegrees degrees
-ld degrees: Indicate the size of the laser field of view, either 180 (default) or 100.
-laserIncrement increment
-li increment: Configures the laser's angular resolution. If one, then configure the laser to take a reading every degree. If half, then configure it for a reading every 1/2 degrees.
-laserUnits units
-lu units: Configures the laser's range resolution. May be 1mm for one milimiter, 1cm for ten milimeters, or 10cm for one hundred milimeters.
-laserReflectorBits bits
-lrb bits: Enables special reflectance detection, and configures the granularity of reflector detection information. Using more bits allows the laser to provide values for several different reflectance levels, but also may force a reduction in range. (Note, the SICK LMS-200 only detects high reflectance on special reflector material manufactured by SICK.)

bool ArLaserConnector::parseArgs

(

void

)

Function to parse the arguments given in the constructor.

Parse command line arguments using the ArArgumentParser given in the ArLaserConnector constructor.

See parseArgs(ArArgumentParser*) for details about argument parsing.

Returns:: true if the arguments were parsed successfully false if not

bool ArLaserConnector::setupLaser	(	ArLaser *	laser,
		int	laserNumber = `1`
	)

Sets up a laser to be connected.

This is mainly for backwards compatibility (ie used for ArSimpleConnector). If you're using this class you should probably use the new functionality which is just ArLaserConnector::connectLasers.

ArLaserConnector Class Reference

Detailed Description

Public Member Functions

Protected Member Functions

Protected Attributes

Classes

Constructor & Destructor Documentation

Member Function Documentation